version: 66.02
glider: 22
mission: 2
dive: 129
start: 9 24 107 23 29 51
data:
$ID,22
$MISSION,2
$DIVE,129
$D_SURF,5
$D_FLARE,2
$D_TGT,90
$D_ABORT,1050
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,45
$T_MISSION,90
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,600
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,90
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51950
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.0040048002
$HD_B,0.010364
$HD_C,5.4717998e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.650002
$TGT_DEFAULT_LON,-122.8667
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,150000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-111454.8
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,38
$PITCH_MAX,3347
$C_PITCH,2530
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,208
$ROLL_MAX,3567
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,10
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,100
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,658
$VBD_MAX,3994
$C_VBD,3484
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,4
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,16
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-21.951805
$PRESSURE_SLOPE,0.00011632
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,1.7
$TCM_ROLL_OFFSET,-0.89999998
$ALTIM_BOTTOM_PING_RANGE,15
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,50
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,0
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,3
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,2
$SMARTDEVICE1,5
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,0
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,19
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044140997
$SEABIRD_T_H,0.00064927549
$SEABIRD_T_I,2.7523491e-05
$SEABIRD_T_J,3.1132354e-06
$SEABIRD_C_G,-10.525962
$SEABIRD_C_H,1.1896306
$SEABIRD_C_I,-0.0026426413
$SEABIRD_C_J,0.00031414768
$GPS1,232450,4740.155,-12250.491,11,1.8,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-73.1
$GPS2,232827,4740.169,-12250.459,12,1.9,12,18.3
$SPEED_LIMITS,0.183,0.193
$TGT_NAME,H3
$TGT_LATLONG,4739.467,-12253.202
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.170,-0.092
$KALMAN_X,22625.5,517.7,-412.8,-19581.1,92.0
$KALMAN_Y,6986.4,100.3,-19.8,-6182.4,109.1
$MHEAD_RNG_PITCHd_Wd,223.2,3661,-15.5,-6.667
$D_GRID,119
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-1.06,-88.0,0.0,0.0,0,70,0.00,0.00,-44.12,0.000,2,0.000,0.000,38,2079,2635
$GC,73,-1.06,-88.0,2.2,-1.9,7,140,13.45,2.92,-45.78,0.000,4,0.202,0.144,2289,686,3844
$GC,389,-1.06,-88.0,27.9,-8.8,49,398,0.00,2.70,0.00,0.000,6,0.000,0.082,2290,2090,3847
$GC,586,-1.06,-88.0,44.2,-8.6,65,590,0.00,2.80,0.00,0.000,4,0.000,0.106,2289,3519,3848
$GC,843,-1.06,-88.0,67.1,-8.8,84,850,0.00,2.83,0.00,0.000,6,0.000,0.097,2290,2094,3848
$GC,1038,-1.06,-88.0,85.1,-9.4,100,1043,0.00,2.83,0.00,0.000,4,0.000,0.104,2290,3518,3848
$STATE,1081,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1082,begin apogee
$GC,1089,-0.31,0.0,90.2,12.3,103,1162,0.85,0.00,69.70,0.719,6,0.135,0.000,2454,1988,3484
$STATE,1163,end apogee,CONTROL_FINISHED_OK
$STATE,1163,begin climb
$GC,1165,1.06,88.0,95.3,0.0,109,1245,1.48,2.78,68.55,0.714,4,0.101,0.076,2757,3415,3125
$GC,1283,1.06,88.0,92.9,7.4,119,1288,0.00,2.67,0.00,0.000,6,0.000,0.069,2757,1988,3124
$GC,1485,1.06,88.0,74.0,9.8,135,1489,0.00,2.72,0.00,0.000,4,0.000,0.079,2757,3425,3124
$GC,1538,1.06,88.0,68.2,12.3,139,1542,0.00,2.67,0.00,0.000,6,0.000,0.070,2757,1990,3124
$GC,1740,1.07,91.5,52.6,6.5,155,1752,0.00,2.78,2.67,0.775,4,0.000,0.077,2757,3427,3109
$GC,1875,1.07,91.5,40.0,9.4,165,1883,0.00,2.70,0.00,0.000,6,0.000,0.068,2757,1995,3109
$GC,2072,1.07,91.5,24.4,7.3,181,2073,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1994,3109
$GC,2267,1.07,91.5,10.8,7.1,206,2274,0.00,2.80,0.00,0.000,4,0.000,0.114,2757,582,3109
$GC,2525,1.27,276.0,7.4,-1.3,245,2625,0.22,2.62,92.68,0.674,2,0.058,0.063,2813,2022,2611
$STATE,2626,end climb,SURFACE_DEPTH_REACHED
$STATE,2626,begin surface coast
$FINISH,0.7,1.011898
$STATE,2756,end surface coast,CONTROL_FINISHED_OK
$STATE,2756,begin surface
$SM_CCo,2777,136.43,0.643,0,0,1649,450.13
$SM_GC,1.41,0.00,0.00,136.43,0.000,0.000,0.643,39,2110,1649,-11.46,0.28,450.13
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.028379
$HUMID,2111
$TCM_TEMP,19.90
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,50.1,7.8
$24V_AH,23.9,19.862
$10V_AH,10.2,5.139
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,28.700,39.025,233.600,136.425,0.000,32.579,31.320,80.344,1.500,0.000,0.000,12.776,519.519,1450.210,470.459,495.165,244.203,33.343,771.377,0.000,499.685,0.000,5.348
$DEVICE_MAMPS,202.488,144.196,775.437,642.746,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,184.683,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6482,281
$CFSIZE,260034560,253845504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250907,001937,4740.191,-12250.684,39,1.3,39,18.3